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Position estimation optimization method for advanced receiver autonomous integrity monitoring

An integrity monitoring and optimization method technology, applied in the field of satellite navigation, can solve the problems that may not necessarily meet the availability of ARAIM, small protection level and EMT, etc., to reduce the protection level and effective monitoring threshold, improve availability, and reduce differences Effect

Active Publication Date: 2018-11-06
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0006] The positioning result of ARAIM is obtained by the traditional weighted least squares method. The positioning result has the best positioning accuracy, but it does not necessarily correspond to the minimum protection level and EMT, and furthermore, it does not necessarily meet the availability of ARAIM.

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  • Position estimation optimization method for advanced receiver autonomous integrity monitoring
  • Position estimation optimization method for advanced receiver autonomous integrity monitoring
  • Position estimation optimization method for advanced receiver autonomous integrity monitoring

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Embodiment Construction

[0032] Below in conjunction with accompanying drawing, the technical scheme of invention is described in detail:

[0033] The overall process of this method is as follows figure 1 shown. The above process needs to complete the following tasks:

[0034] 1. Position estimation method based on weighted least squares

[0035] The traditional ARAIM user algorithm is based on the weighted least square method to obtain the estimated position. The mathematical principle of the least squares method is Newton's iterative method. Each Newton iteration mainly includes the following operations: first, each equation is linearized at an estimated value of a root, then the linearized equation system is solved, and finally the estimated value of the root is updated. After the pseudo-range undergoes Newton iteration, the updated pseudo-range residual Δx is:

[0036] Δx=(G T WG) -1 G T WΔy

[0037] Among them, G is the Jacobian matrix of the receiver positioning solution, Δy is the obse...

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Abstract

The invention discloses a position estimation optimization method for advanced receiver autonomous integrity monitoring. The invention puts forwards an optimization method for position estimation in allusion to the availability of advanced receiver autonomous integrity monitoring. When a positioning result obtained according to the traditional method in ARAIM (Advanced Receiver Autonomous Integrity Monitoring) does not satisfy an available criterion, a constellation weighted positioning result is adopted to replace the original positioning result within an allowable range of the positioning precision, and the protection level and effective monitoring threshold are recalculated. The method can reduce the difference in positioning precision of different constellations and improve the availability of ARAIM. The method has the characteristics of low computation complexity and good compatibility. The method is suitable for autonomous integrity monitoring of satellite navigation receivers, and the same idea is applicable to other signal systems adopting multiple hypothesis solution separation.

Description

technical field [0001] The invention relates to the technical field of satellite navigation, in particular to a position estimation optimization method for autonomous integrity monitoring of advanced receivers. Background technique [0002] Receiver Autonomous Integrity Monitoring (RAIM) is a method for satellite navigation receivers to independently diagnose and eliminate faults based on redundant GNSS information. The RAIM algorithm is included in the receiver, so it is called autonomous monitoring. RAIM is also the most direct, most timely, most widely used, most deeply researched, and most computationally efficient integrity monitoring method. RAIM technology only supports lateral navigation, and cannot meet the performance requirements of vertical guidance navigation channels below 200 feet (Localized Performance with Vertical guidance, LPV-200) defined by ICAO. Advanced Receiver Autonomous Integrity Monitoring (Advanced RAIM, ARAIM) is designed by the GNSS Evolutionar...

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Application Information

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IPC IPC(8): G01S19/20
CPCG01S19/20
Inventor 刘建业孟骞曾庆化冯绍军许睿曾世杰黄河泽
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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